Duality of constrained elastic manipulation

Abstract

For unconstrained manipulation, the linear compliance and stiffness models are equivalent. The equivalence does not hold for constrained manipulation, but leads to two dual models. These are analyzed using screw theory and a novel duality is explicitly demonstrated. The eigenstructure of the singular compliance and singular stiffness matrices is determined and several new dual propositions are developed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>